Multi-body dynamic modeling, simulation and control strategy design of a Y6 tilt rotor UAV

Miniaturize multifunctional tilting type aircraft has both a VTOL capability and high cruise performance, which is significant in commercial and industrial fields. In this paper, a Y6 tilt rotor UAV is selected as the research object after comparing three kinds of most widely adopted tilting type UAVs. Research status and technical difficulties of tilt rotor aircraft in transition process are introduced, and the general properties of the Y6 tilt rotor prototype are given first. Then the multi-body mathematical model for the aircraft is derived, in which the mass of tilting mechanism and the tilting of high-speed rotating rotors is considered. After that the control strategy for the transition process is designed. Numerical simulation of transition process is built and the influence of tilt angular velocity and initial flight speed on the stability of tilting process is analyzed in order to find the optimal tilting control strategy. Finally, the mechanical structure and flight control system of the prototype are introduced, flight test results are shown to demonstrate that proposed optimal tilting control strategy make the aircraft perform stable in the transition process.